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Direct Torque Control of Inverter Fed PMSM Drive Using SVM
Direct Torque Control of Inverter Fed PMSM Drive Using SVM
(
(
(
(
+
(
(
(
(
(
(
(
(
=
(
(
(
(
dr
qr
ds
qs
dr ad
qr aq
ad ds
aq qs
dr
qr
ds
qs
dr
qr
aq r a qs r
ad r ds r a
dr
qr
ds
qs
pi
pi
pi
pi
l l
l l
l l
l l
i
i
i
i
r
r
l r l
l l r
v
v
v
v
.
0 0
0 0
0 0
0 0
.
0 0 0
0 0 0
0
0 '
--- (8)
3. DIRECT TORQUE CONTROL (DTC) OF PMSM
There are two control methods used for the PMSM; field oriented control and direct torque control. The AC drives using
field oriented control (FOC) in which field control leads to flux control. Here, rotor flux space vector is calculated and
controlled by using the angular velocity which is derived from the speed feedback and the stator current vector. The
greatest drawback of the flux vector control is the need for a tachogenerator or an encoder for high accuracy. This
indeed/need definitely increases the cost of the system.
Figure 1 Block diagram of DTC based PMSM
The basic principle of DTC is to directly select the stator voltage vectors according to the errors between the reference and
actual values of the torque and stator flux. Torque and flux are resolved and directly controlled using nonlinear
transformations on hysteresis controllers, without performing coordinate transformations. A double layer hysteresis band
controller is utilized for stator flux control and a three-layer hysteresis band controller is used for torque control. DTC is
an alternative to field oriented control method in high performance applications due to the advantages of reduced
computations The torque and flux estimators in DTC requires and relies on the parameters identification and accuracy of
the estimations, so the estimation of the electromagnetic torque is essential for the entire system performance.
In classical PWM and flux vector controlled drives, voltage and frequency are used as basic control variables and that are
modulated and then applied to the motor. This modulator layer needs an additional signal processing time and restricts
the torque and speed response. The key notion behind DTC is to directly steer the stator flux vector by applying the
appropriate voltage vector to the stator windings. This is done by using a pre-designed switching table to directly update
the inverters discrete switch positions whenever the variables to be controlled, the electromagnetic torque and the stator
flux, exceed the hysteresis bounds around their references. The switching table is derived on the basis of the desired
performance specifications on the controlled variables also include the balancing of the inverters neutral point potential
around zero.
International Journal of Application or Innovation in Engineering& Management (IJAIEM)
Web Site: www.ijaiem.org Email: editor@ijaiem.org, editorijaiem@gmail.com
Volume 2, Issue 7, July 2013 ISSN 2319 - 4847
Volume 2, Issue 7, July 2013 Page 482
The Principle of conventional DTC
The key idea of the conventional DTC is the rate of change of torque that is proportional to the instantaneous slip between
the stator flux and rotor flux under constant stator flux linkage. It has been widely recognized for its fast and robust
torque and flux control. As the rotor time constant of a standard squirrel-cage induction machine is very large, the rotor
flux linkage changes slowly compared to the stator flux linkage. However, during a short transient, the rotor flux is
almost unchanged.
Figure 2 Block diagram of conventional DTC based PMSM
4. PULSE WIDTH MODULATION (PWM)
Fig.4 shows circuit model of a single-phase inverter with a centre-tapped grounded DC bus, and Fig.4 illustrates principle
of pulse width modulation.
Figure 3 Circuit model of a single-phase inverter Figure 4 Pulse width modulation
As depicted in Fig. 3, the inverter output voltage is determined in the following
- When V
control
>V
tri
, V
A0
=V
dc
/2
- When V
control
<V
tri
, V
A0
=-V
dc
/2
Also, the inverter output voltage has the following features:
- PWM frequency is the same as the frequency of V
tri
- Amplitude is controlled by the peak value of V
control
- Fundamental frequency is controlled by the frequency of V
control
4.1 Principle of Space Vector Modulation
The circuit model of a typical three-phase voltage source PWM inverter is shown in Fig. 5. S
1
to S
6
are the six power
switches that shape the output, which are controlled by the switching variables a, a, b, b and c, c. When an upper
transistor is switched on, i.e., when a, b or c is 1, the corresponding lower transistor is switched off, i.e., the
corresponding a, b or c is 0. Therefore, the on and off states of the upper transistors S
1
, S
3
and S
5
can be used to
determine the output voltage.
Figure 5 Three-phase voltage source PWM Inverter.
International Journal of Application or Innovation in Engineering& Management (IJAIEM)
Web Site: www.ijaiem.org Email: editor@ijaiem.org, editorijaiem@gmail.com
Volume 2, Issue 7, July 2013 ISSN 2319 - 4847
Volume 2, Issue 7, July 2013 Page 483
The relationship between the switching variable vector [a, b, c]
T
and the line-to-line voltage vector [V
ab
V
bc
V
ca
]
T
is given
as follows
(
(
(
(
(
(
=
(
(
(
c
b
a
dc
V
ca
V
bc
V
ab
V
1 0 1
1 1 0
0 1 1
--- (10)
Also, the relationship between the switching variable vector [a, b, c]
T
and the phase voltage vector [V
a
V
b
V
c
]
T
can be
expressed below.
(
(
(
(
(
(
=
(
(
(
c
b
a
dc
V
cn
V
bn
V
an
V
2 1 1
1 2 1
1 1 2
3
--- (11)
As illustrated in the Fig 6, there are eight possible combinations of on and off patterns for the three upper power switches.
The on and off states of the lower power devices are opposite to the upper one and so are easily determined once the states
of the upper power transistors are determined. According to equations stated above the eight switching vectors, output
line to neutral voltage (phase voltage), and output line-to-line voltages in terms of DC-link V
dc
, are given in Table.1 and
Fig.8 shows the eight inverter voltage vectors (V
0
to V
7
).
Table 1: Switching Vectors
T
(1) (2) (3) (4) (5) (6)
1
1
V2(110)
V3(100)
V4(101)
V5(001)
V6(011)
V1(010)
0
V7(111)
V0(000)
V7(111)
V0(000)
V7(111)
V0(000)
-1
V6(011)
V1(010)
V2(110)
V3(100)
V4(101)
V5(001)
0
1
V3(100)
V4(101)
V5(001)
V6(011)
V1(010)
V2(110)
0
V0(000)
V7(111)
V0(000)
V7(111)
V0(000)
V7(111)
-1
V5(001)
V6(011)
V1(010)
V2(110)
V3(100)
V4(101)
Note: The respective voltage should be multiplied by V
dc
Figure 6 Basic switching vectors and sectors
|
|
.
|
\
|
s s
=
+ =
0 2 1 0
60 0
) 6 1 sec ., . ( 6 1 ,
), (
to tor e i n where
T T T T
Z
|
|
.
|
\
|
|
.
|
\
|
=
3
1
sin
. . 3
2
n
V
V T
T
dc
ref
Z
|
|
.
|
\
|
|
.
|
\
| +
+ =
3
1
3
sin
. . 3
1
n
V
V T
T
dc
ref
Z
International Journal of Application or Innovation in Engineering& Management (IJAIEM)
Web Site: www.ijaiem.org Email: editor@ijaiem.org, editorijaiem@gmail.com
Volume 2, Issue 7, July 2013 ISSN 2319 - 4847
Volume 2, Issue 7, July 2013 Page 484
Table 2: Switching Time Calculation at Each Sector
Sector Upper Switches(S1,S3,S5) Lower Switches(S4,S6,S2)
1
S1=T1+T2+T0/2
S3=T2+T0/2
S5=T0/2
S4=T0/2
S6=T1+T0/2
S2=T1+T2+T0/2
2
S1=T1 +T0/2
S3=T1+T2+T0/2
S5=T0/2
S4=T2+T0/2
S6=T0/2
S2=T1+T2+T0/2
3
S1=T0/2
S3=T1+T2+T0/2
S5=T2+T0/2
S4=T1+T2+T0/2
S6=T0/2
S2=T1+T0/2
4
S1=T0/2
S3=T1+T0/2
S5=T1+T2+T0/2
S4=T1+T2+T0/2
S6=T2+T0/2
S2=T0/2
5
S1=T2+T0/2
S3=T0/2
S5=T1+T2+T0/2
S4=T1+T0/2
S6=T1+T2+T0/2
S2=T0/2
6
S1=T1+T2+T0/2
S3=T0/2
S5=T1+T0/2
S4=T0/2
S6=T1+T2+T0/2
S2=T2+T0/2
5. SIMULATION RESULTS AND DISCUSSIONS
Figure 6 Simulation model of direct torque controlled PMSM
0 0.02 0.04 0.06 0.08 0.1
-2
0
2
4
6
8
10
12
14
Time(Sec)
T
o
r
q
u
e
(
N
-
m
)
0 0.02 0.04 0.06 0.08 0.1
-1000
0
1000
2000
3000
4000
5000
6000
Time(Sec)
S
p
e
e
d
(
r
p
m
)
Figure 7 Torque Versus Time Figure 8 Speed versus Time
International Journal of Application or Innovation in Engineering& Management (IJAIEM)
Web Site: www.ijaiem.org Email: editor@ijaiem.org, editorijaiem@gmail.com
Volume 2, Issue 7, July 2013 ISSN 2319 - 4847
Volume 2, Issue 7, July 2013 Page 485
-1 -0.5 0 0.5 1
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
Flux al pha (Wb)
F
l
u
x
b
e
t
a
(
W
b
)
Figure 9 Direct And Quadrature Axis Currents Figure 10 fluxlinkage
The simulation results shows that by using proposed scheme the steady state performance of system is good when
compared with the basic conventional control scheme. Simulation results show that the steady state and dynamic
performance of motor is improved with SVM-DTC technique when compared with conventional control technique. Fast
speed tracking, less torque dynamics are the advantages of the proposed method.
6. CONCLUSION
This paper proposes a method for PMSM drive based on DTC using SVM. A comparison between the conventional and
proposed method is performed. The key point of the proposed control is to compensate the drawbacks of the conventional
control method. Several numerical simulations using MATLAB-Simulink have been carried out in steady-state and
transient-state. The results shows that, the proposed control technique gives better performance as the motor torque and
the speed are better than that of the conventional type the feedback based modulation technique was replaced by carrier
based space vector modulation at the expense of simplicity lost and partially worse dynamics.
References
[1.] M. S. Merzoug, and F. Naceri Comparison of Field-Oriented Control and Direct Torque Control for Permanent
Magnet Synchronous Motor (PMSM) World Academy of Science, Engineering and Technology 21 2008
[2.] M. Malek, J. Vittek, V. Vavr, M. tulrajter Application Of Space Vector Modulation in Direct Torque Control Of
PMSM Advances in Electrical and Electronic Engineering.
[3.] P.Ramana, B.Santhosh Kumar, K.Alice Mary and M.Surya Kalavathi Comparison Of Various PWM Techniques
For Field Oriented Control VSI Fed PMSM Drive IJAREEIE, Vol.2, Issue.7, pp.2928-2936.
[4.] Mohamed Kadjoudj, Soufiane Taibi1, Noureddine Golea, Hachemi Benbouzid Modified Direct Torque Control of
Permanent Magnet Synchronous Motors IJ -STA, Volume 1, No. 2, December 2007, pp. 167180.
[5.] Jagadish H Pujar , S.F. Kodad Digital Simulation of Direct Torque FuzzyControl of PMSM Servo System
International Journal of Recent Trends in Engineering, Vol 2, No. 2, November 2009
[6.] N. Mohan, W. P. Robbin, and T. Undeland, Power Electronics: Converters, Applications, and Design, 2nd edition.
New York: Wiley, 1995.
[7.] B. K. Bose, Power Electronics and Variable Frequency Drives: Technology and Applications. IEEE Press, 1997.
[8.] J.F. Gieras. Permanent magnet motor technology: design and applications. Electrical and Computer Engineering
Series. CRC Press, 2009. ISBN 9781420064407. URL http://books.google.se/books?id=8b6yPQAACAAJ.
[9.] XU Jun-Feng, FENG Jiang-Hua, XU Jian-Hua. Control policy of permanent magnetism synchronous motor
summery. The electrical transmission of Locomotive, 2005, pp.7-1
Author
Sri P.Ramana received B.Tech (EEE) degree, First class with distinction from JNTU, Hyderabad in May 2001.
He received M.Tech degree First class with distinction from JNTU, Hyderabad in 2006. He is in teaching
profession for last 12 years. He is pursuing his Ph.D at JNTU, Hyderabad, A.P, India. His research interests
include control systems and electrical machine drives. At present he is working as Associate Professor in
GMR Institute of Technology, Rajam, AP, India.
International Journal of Application or Innovation in Engineering& Management (IJAIEM)
Web Site: www.ijaiem.org Email: editor@ijaiem.org, editorijaiem@gmail.com
Volume 2, Issue 7, July 2013 ISSN 2319 - 4847
Volume 2, Issue 7, July 2013 Page 486
B.Santhosh Kumar received B.Tech (EEE) degree, First class from JNTU, Kakinada in May 2011. At present
he is pursuing his M.Tech (Power & Industrial Drives) at GMR Institute of Technology, Rajam, Affiliated to
JNTU, Kakinada, A.P, India.
Dr K. Alice Mary received B.E (Electrical Power) degree in December 1981 from Mysore University. She
received masters degree M.E (power apparatus & electric drives) in1989 from IIT, Roorkee, UP. She received
Ph.D from IIT Kharagpur, WB. She is in teaching profession for last 30 years. She has published 30 Research
Papers and presently guiding 4 Ph.D. Scholars. She received best paper award at national system conference
Tiruvanantapuram in 1996 for her research work. She is a recipient of Mahila Jyothi Award(National award) for her
overall educational excellence by Integrated Council for Socio-Economic progress, New Delhi, 2002 and Mother Teresa
Excellence Award(National award) in 2002 by Front for Nations Progress, Bangalore and Shastra award and Vijeta
award for academic excellence and authoring a Technical book. Her research interest includes control systems and power
electronics control of electrical machine drives. At present she is working as Professor and Principal at VIIT, Duvvada,
Visakhapatnam, AP, India.
Dr. M Surya Kalavathi received B.E (EE) degree in the 1988 from SV University, Tirupathi. She received
masters degree M.E (Power Systems) in1993 from SV University, Tirupathi, AP. She received Ph.D from
JNTU, Hyderabad in 2006. She received Post Doctoral at Carnegie Mellon University, USA in 2008 she is in
teaching profession for last 20 years. She has published 20 Research Papers and presently guiding 5 Ph.D.
Scholars. She has specialized in Power Systems, High Voltage Engineering and Control Systems. Her research interests
include Simulation studies on Transients of different power system equipment. At present she is working as Professor at
JNTUCE, Hyderabad, AP, India.